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PID-fuzzy switching-based strategy to heading control for remote operated vehicle

Neural Computing and Applications 2024年 1-17页

作者： Xie, Baolong He, Shuping Cao, Xiang Wang, Honghai Stojanovic, Vladimir Shi, Kaibo School of Electrical Engineering and Automation Anhui University Hefei230039 China School of Artificial Intelligence Anhui University Hefei230039 China School of Computing and Artificial Intelligence Chaohu University Chaohu238024 China Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil Engineering University of Kragujevac Kraljevo36000 Serbia School of Electronic Information and Electrical Engineering Chengdu University Chengdu610106 China

Accurate heading control is the premise for underwater vehicles to complete underwater operations. In order to improve the performance of heading control, this paper proposes a heading control strategy based on PID-fuzzy switching. First, the force analysis of the steering motion was carried out to derive the dynamics model of the steering motion. Then, the whole heading control process is divided into two phases, steering phase and holding phase. Fuzzy control is used in the steering phase, and PID control is used in the holding phase. By setting the automatic switching switch, the control system can switch freely between the two to meet the needs of system adjustment under different errors. Finally, the performance of the established heading control system is verified through motion control simulations and pool experiments, and the proposed control strategy is compared with other methods. The results show that the control strategy can effectively achieve ROV heading control with good steady-state accuracy, and the overall performance has been greatly improved. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Fuzzy control

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A Neural PID End-effector controller for Robotic Manipulator with Joint Position Constraints

A Neural PID End-effector Controller for Robotic Manipulator...

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2023 International Conference on System Science and engineering, ICSSE 2023

作者： Nguyet, Nguyen Tran Minh Ba, Dang Xuan Faculty of Electrical and Electronics Engineering Ho Chi Minh City Viet Nam Department of Automatic Control Ho Chi Minh City Viet Nam

ISBN: (纸本)9798350322941

We present a novel efficient method to control the end- effector of robotic manipulators without solving the inverse kinematics problem in the presence of the hard bound on the joint space motion. The basic Proportional-Integral-Derivative (PID) controller is combined with a nonlinear law to track the position and control the joint move within physical limits. To provide the adaptive ability of such the controller, a neural control signal is integrated to compensate for the internal and external disturbances in the robot dynamic. Stability of the closed-loop system is guaranteed by Lyapunov constraints. The proposed controller is validated in intensive simulation results. © 2023 IEEE.

关键词： End effectors

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Sliding Mode control For Underactuated Nonlinear Mechanical Systems 3

Sliding Mode Control For Underactuated Nonlinear Mechanical ...

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3rd International Conference on Advanced electrical engineering, ICAEE 2024

作者： Feddaoui, Anis Abdeldjalil, Djehaf Mohamed Bilal, Bouchelarm Youcef Islam, Djilani Kobibi Youcef, Djeriri Badji Mokhtar University Genie Electromechanique Laboratory Department of Electromechanical dept Annaba23000 Algeria Djillali Liabes University Faculty of Electrical Engineering Department of Automatic Control Sidi Bel-Abbes22000 Algeria Mustapha Stambouli University Faculty of Sciences and Technology Department of Electrical Engineering Mascara29000 Algeria Djillali Liabes University Faculty of Electrical Engineering Department of Electrical Engineering Sidi Bel-Abbes22000 Algeria

ISBN: (纸本)9798350349351

The Rotary Inverted Pendulum (RIP) serves as a quintessential benchmark in control theory, representing a challenging and unstable system of paramount importance. In this study, we focus on a Quanser platform to investigate the application and significance of sliding mode control in stabilizing the RIP. The importance of RIP lies in its portrayal of real-world control challenges encountered in industries ranging from manufacturing to robotics. Its inherent instability and underactuation make it an ideal testbed for advanced control strategies. Our research delves into the experimental application of sliding mode control, on the Quanser RIP platform. Through rigorous modeling, simulation, and practical implementation, we aim to demonstrate the effectiveness of this control strategy. This study contributes to the broader discourse on control systems and automation, showcasing the potential of sliding mode control in addressing complex and dynamic systems. The outcomes of our research not only advance the understanding of control theory but also have practical implications for industries where precise control and stabilization are critical. © 2024 IEEE.

关键词： Sliding mode control

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Improvement Performances of Sensorless control for PMSM Based on FOC Strategy Using MRAS Observer, Ant Colony Optimization, and RLTD3 Agent

Improvement Performances of Sensorless Control for PMSM Base...

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2023 International Conference on electrical, Computer, Communications and Mechatronics engineering, ICECCME 2023

作者： Nicola, Claudiu-Ionel Nicola, Marcel National Institute for Research Development and Testing in Electrical Engineering Icmet Craiova Research Department Craiova Romania University of Craiova Department of Automatic Control and Electronics Craiova Romania

ISBN: (纸本)9798350322972

Begining from the need to increase the accuracy of Permanent Magnet Synchronous Motor (PMSM) rotor speed estimation in the case of using of sensorless control, this article shows a PMSM sensorless system control structure that embeds a Field Oriented control (FOC) type control approach and a Model Reference Adaptive System (MRAS)-type observer. Furthermore, to achieve superior MRAS observer estimation performance, an Ant Colony Optimization (ACO) computational intelligence algorithm is used to perform optimal settling of the PI controller parameters embedded in the MRAS observer. Another method to increase the estimation performance for the MRAS observer is to use a special machine learning like Reinforcement Learning (RL) namely Twin-Delayed-Deep-Deterministic Policy Gradient (TD3)-type agent that can provide additional signals after proper training to obtain a more accurate estimate for the rotor speed of PMSM. The control structures, operating equations and control algorithms are presented. The validation of the proposed improvement methods for PMSM rotor speed estimation is achieved through numerical simulations using Matlab/Simulink programming environment. © 2023 IEEE.

关键词： Reinforcement learning

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Delay Compensation in the PMSM control System by Using Predictive-PI controller

Delay Compensation in the PMSM Control System by Using Predi...

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2023 IEEE International Conference on electrical, Computer and Energy Technologies, ICECET 2023

作者： Nicola, Marcel Nicola, Claudiu-Ionel Popescu, Marian Iacob, Andreea Pîrvu, Cristian National Institute for Research Development and Testing in Electrical Engineering -ICMET Craiova Research Department Craiova Romania University of Craiova Department of Automatic Control and Electronics Craiova Romania

ISBN: (纸本)9798350327816

Based on the positive outcomes of using PI-type controllers in PMSM (Permanent Magnet Synchronous Motor) control systems, this paper introduces an extension of this controller type, namely Predictive-PI, to compensate for delays in the control system during sensor readings and computational effects involved in control algorithms and state observers. This extended controller offers a lower complexity suitable for real-time applications. The structure of the initial PI controller is improved by predicting the order size at the current time using the information given by the controller commands over the previous time interval equal to the delay, which is a predictive PI type controller. The structure and equations for a predictive PI controller are presented, along with numerical simulations for different delay values. The predictive PI controller demonstrates effective control performance and maintains a low complexity control algorithm, making it well-suited for real-time implementations. © 2023 IEEE.

关键词： closed-loop delay PMSM Predictive-PI transfer function

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Micro-Cantilever Array With Electroplating Tin Bumps for Flip-Chip Bonding Technology

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IEEE Transactions on Components, Packaging and Manufacturing Technology 2023年第12期13卷 2040-2045页

作者： Hu, Zihsong Liou, Chengshiun Tsou, Chingfu Feng Chia University Department of Automatic Control Engineering Taichung40724 Taiwan Institute of Nano Engineering and Microsystems National Tsing Hua University Hsinchu30013 Taiwan Feng Chia University Doctorate Degree of the Ph.D. Program of Electrical and Communications Engineering Taichung40724 Taiwan

A Nickel (Ni) microcantilever beam array with tin (Sn) solder bumps has been designed for flip-chip bonding with high-density electrodes. Micro-electro-mechanical system (MEMS) technology and the micro-electroplating process were used in the fabrication process. Utilizing the out-of-plane deformation of the suspended microcantilever beam, the satisfied heights partially compensate the substrate curvature to ensure a high flip-chip bonding yield, thus, improving package quality in terms of electrical connections. To demonstrate this technique, this study developed a flip-chip carrier for a typical micro-LED array with a beam length of 70~ μm and a bump height of 2~ μm. The measurement results revealed that the displacement of the microcantilever beam was approximately 0.8~ μm when a 500~ μN force was applied on top of the tin bump. When a glass substrate directly mounts to the flip-chip carrier through the tin bump at a heat reflow of 270 °C, most of the tin bumps successfully melt and solidify, which results in good bonding performance. These results revealed that the proposed approach could be applied to the wafer-level packaging process with high-density ball grid array electrodes. © 2011-2012 IEEE.

关键词： Flip chip devices

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Analysis and Classification of Simulated Partial Discharge Signals Using DWT and SVM

Analysis and Classification of Simulated Partial Discharge S...

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2023 IEEE International Conference on electrical, Computer and Energy Technologies, ICECET 2023

作者： Nicola, Marcel Nicola, Claudiu-Ionel Research Department National Institute for Research Development and Testing in Electrical Engineering - Icmet Craiova Craiova Romania Department of Automatic Control and Electronics University of Craiova Craiova Romania

ISBN: (纸本)9798350327816

Based on the importance of early detection of structural changes and insulation damage of high voltage (HV) equipment by measuring partial discharge (PD), in order to perform optimal maintenance that has the effect of both increasing the safety of non-operation and increasing the lifetime of HV equipment, this paper presents a method for automatic classification of theoretically simulated PD pulse signals based on support vector machines (SVM). A time and frequency characterisation of the main PD sources using the signal processing tool PD flex and the Matlab environment will be presented. Also, the paper presents the patterns for the main types of PD sources, and for the main types of signals that can be assimilated with the corresponding PD pulses are analytically described in the form of four categories of signals, their theoretical waveforms, their main characteristics in the time and frequency domain that will be used for training and signal recognition using SVM along with de-noising of these signals using Discrete Wavelet Transform (DWT). The main working assumptions needed in future approaches to achieve automatic classification of even PD source types according to the characteristics of PD pulse signals and the type of equipment under test are presented. © 2023 IEEE.

关键词： classification discrete wavelet transforms partial discharge signal de-noising support vector machines

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Analyzing Significance of Facial Features for Detection of Parkinson's Disease via Static Images 4

Analyzing Significance of Facial Features for Detection of P...

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4th IEEE International Conference on Electronic Communications, Internet of Things and Big Data, ICEIB 2024

作者： Chiu, Chuang-Chien Yeh, Shoou-Jeng Sun, Yen-Chi Feng Chia University Department of Automatic Control Engineering Taichung Taiwan Cheng-Ching General Hospital Section of Neurology and Neurophysiology Taichung Taiwan Feng Chia University Master's Program of Biomedical Informatics and Biomedical Engineering Taichung Taiwan

ISBN: (纸本)9798350360721

Parkinson's disease (PD) is a neurodegenerative disorder often characterized by motor symptoms such as hypomimia, and a reduction in facial expression. We explored the significance of facial features in identifying PD through static images, focusing on detecting hypomimia. A dataset comprised of PD patients and healthy controls' static facial images were collected and analyzed. Facial feature detection was conducted using OpenCV and Dlib libraries for the precise localization of key landmarks. In the subsequent feature extraction, parameters such as symmetry, eye aspect ratio, mouth corner distance, muscle tension, and mouth aperture ratio were used. Through the standardization of these features, meaningful comparisons across diverse images were made. By analyzing hypomimia-related features alongside traditional facial parameters, the results provide a comprehensive understanding of the role of facial expressions in PD diagnosis. The findings suggested that examining facial features in static images enhances the accuracy of PD detection and understanding of the nuanced motor symptoms associated with the disease. © 2024 IEEE.

关键词： Feature extraction

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Nonlinear Study of SRG Configurations Using Finite Element Analysis 23

Nonlinear Study of SRG Configurations Using Finite Element A...

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23rd International Middle East Power Systems Conference, MEPCON 2022

作者： Abdo, Asmaa E. Ghoneim, Walid A. M. Ashour, Hamdy A. Arab Academy for Science Electrical Engineering and Automatic Control Department Technology and Maritime Transport Alexandria Egypt

ISBN: (纸本)9781665463638

This paper, presents the non-linear analysis of the most common configurations of Switched Reluctance Generators (SRG). Finite Element Analysis (FEA) of two-phase (4/2), three-phase (6/4), and four-phase (8/6) SRGs have been carried out using (ANSYS Maxwell 16 - 3D Modeler - Transient solution). The simulation process was performed utilizing the Asymmetric Half Bridge Converter (AHBC) model as an external excitation circuit for the SRG model. Research interests have been dedicated recently to SRG as a promising and reliable candidate in both low-speed and high-speed applications, especially for small-scale renewable applications. However, this study includes the non-linear validation for both the conventional short-pitched and the fully-pitched SRG winding configurations at low-speed simulation conditions. This study aims to analyze the non-linear performance of SRG and validate the influence of stator and rotor pole angles (\beta{s} and \beta{r}) variation in addition to the excitation current patterns on the induced output voltage. The dynamic performance of SRG has been simulated, with the exact description of rotor angular position, number of conductors per phase, and the excitation current pattern for each case study. The FE simulation was applied to the same SRG test model;i.e., the same dimensions, the same angular speed, and the same number of conductors per phase. Moreover, SRG FEA output results have been recorded and compared to the corresponding results delivered from a related SRG linear analysis study done by the authors;hence the final proposed design was highlighted for further prototype implementation. The outcome of this study provides the recommended SRG design that can generate the maximum induced output voltage for the same machine design parameters. © 2022 IEEE.

关键词： Finite element method

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STUDYING THE INTERRELATIONS BETWEEN USALI PARAMETERS AND GOP THROUGH WAVELET COHERENCE ANALYSIS

STUDYING THE INTERRELATIONS BETWEEN USALI PARAMETERS AND GOP...

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38th ECMS International Conference on Modelling and Simulation, ECMS 2024

作者： Labanowski, Lukasz Frącz, Pawel Wotzka, Daria Dąbrowski, Ireneusz DeSilva & Mercure Hotels in Opole Poland Faculty of Economics University of Opole Poland Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Poland Collegium of Management and Finance Warsaw School of Economics Poland

The article focuses on analysing financial indicators according to the Uniform System of Accounts for the Lodging Industry (USALI) standard, examining metrics across seven selected hotel entities in Poland. It identifies Gross Operating Profit (GOP) as a crucial metric. Through wavelet coherence analysis, the research aims to reveal the temporal relationships and determine the impact of specific USALI components on the GOP within these hotels. Additionally, it seeks to identify whether there are common traits or notable differences among the analysed establishments. ©ECMS Daniel Grzonka, Natalia Rylko, Grazyna Suchacka, Vladimir Mityushev (Editors) 2024.

关键词： Profitability

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